btHingeConstraint.h

/*Bullet Continuous Collision Detection and Physics LibraryCopyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/This software is provided 'as-is', without any express or implied warranty.In no event will the authors be held liable for any damages arising from the use of this software.Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.3. This notice may not be removed or altered from any source distribution.*/#ifndef HINGECONSTRAINT_H#define HINGECONSTRAINT_H#include "../../LinearMath/btVector3.h"#include "btJacobianEntry.h"#include "btTypedConstraint.h"class btRigidBody;
/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space/// axis defines the orientation of the hinge axis00028class btHingeConstraint : publicbtTypedConstraint
{
btJacobianEntry m_jac[3]; //3 orthogonal linear constraintsbtJacobianEntry m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motorbtVector3 m_pivotInA;
btVector3 m_pivotInB;
btVector3 m_axisInA;
btVector3 m_axisInB;
bool m_angularOnly;
btScalar m_motorTargetVelocity;
btScalar m_maxMotorImpulse;
bool m_enableAngularMotor;
public:
btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, constbtVector3& pivotInA,constbtVector3& pivotInB,btVector3& axisInA,btVector3& axisInB);
btHingeConstraint(btRigidBody& rbA,constbtVector3& pivotInA,btVector3& axisInA);
btHingeConstraint();
virtualvoid buildJacobian();
virtualvoidsolveConstraint(btScalar timeStep);
void updateRHS(btScalar timeStep);
constbtRigidBody& getRigidBodyA() const{
return m_rbA;
}
constbtRigidBody& getRigidBodyB() const{
return m_rbB;
}
void setAngularOnly(bool angularOnly)
{
m_angularOnly = angularOnly;
}
void enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
{
m_enableAngularMotor = enableMotor;
m_motorTargetVelocity = targetVelocity;
m_maxMotorImpulse = maxMotorImpulse;
}
};
#endif //HINGECONSTRAINT_H